Sea glider guidance around a circle using distance measurements to a drifting acoustic source

• Published in: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
• Main Authors: Clement, Benoit, Sliwka, Jan, Probst, Irvin
• Other Authors: Lab-STICC_ENSTAB_CID_IHSEV, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom Paris (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom Paris (IMT)-Centre National de la Recherche Scientifique (CNRS), OSM, Département STIC Brest (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)
• Format: Conference Object
• Language: English
• Published: HAL CCSD 2012
• Subjects: [SPI.AUTO]Engineering Sciences [physics]/Automatic; Ice cap; Polar Ice Cap
• Online Access: https://ensta-bretagne.hal.science/hal-00840509; https://ensta-bretagne.hal.science/hal-00840509/document; https://ensta-bretagne.hal.science/hal-00840509/file/GliderNav.pdf; https://doi.org/10.1109/IROS.2012.6385659

International audience This paper describes a simple yet robust sea glider guidance method in a constellation of Lagrangian drifters under the polar ice cap. The glider has to perform oceanographic measurements, mainly conductivity, temperature and depth, in the area enclosed by the drifters and can not rely on GNSS (Global Navigation Satellite System) positionning data as the polar ice cap makes it impossible to surface. The originality of the presented method resides in 2 points. First, a very simple PID (Proportional, Integral and Derivative) controller based on a basic kinematic model is tuned. Second, the method does not use a localization algorithm to estimate state space model data but interval analysis methods are performed to bound the errors in range to the transponder and its derivative. Moreover, only one acoustic beacon is used. Validation is then performed through simulations.